On Design, Prototype and Gain Optimization for Heavy Duty Handling Articulated Manipulator (HDHAM) with 6 DOF

摘要

This paper presents the synthetic technology including design, prototyping and gain control for a heavy duty handling articulated manipulator (HDHAM) with 6 axes. This paper is composed of three parts: (1) The design of HDHAM to maintain heavy payload as well as enduring vibrating shock; (2) On prototyping of HDHAM including hardware structures; (3) Gain optimization using LabVIEn 8.0. The original HDHAM (2.4m in height and 3.6m in length) was planned for handling payload of 600 kg. The 1/4 model of HDHAM has been used for investigating the gain control technology of original HDHAM in a laboratory. In addition, the design and prototyping technology for the 1/4 model of HDHAM will be also applied to the original model of HDHAM later.